Robotic surgical system control scheme for manipulating robotic end effectors

ABSTRACT

A method of controlling a robotic surgical system is provided, where the robotic surgical system including an arm having an instrument with jaws and an access port each coupled to the arm. The method includes detecting a position of the instrument, and opening the jaws of the instrument, in response to a determination that a distance between the position of the instrument and a position of the access port is greater than a predetermined distance.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a Continuation Application which claims the benefitof and priority to U.S. patent application Ser. No. 15/758,908, filed onMar. 9, 2018 (now U.S. Pat. No. 10,849,700), which is a U.S. NationalStage Application filed under 35 U.S.C. § 371(a) of International PatentApplication Ser. No. PCT/US2016/050359, filed Sep. 6, 2016, which claimsthe benefit of and priority to U.S. Provisional Patent Application Ser.No. 62/217,492, filed Sep. 11, 2015, the entire disclosure of which isincorporated by reference herein.

BACKGROUND

Robotic surgical systems are increasingly being used to performminimally invasive medical procedures. Typically during such medicalprocedures, a patient is placed on a platform adjacent a robotic system,and a clinician is positioned at a console remote from the roboticsurgical system. The clinician provides input to a user interface, suchas an input controller or handle, to manipulate a tool coupled to an armof the robotic system, for example, an end effector, that acts on thepatient.

The robotic surgical system can include a tower supporting a robot arm,and at least one end effector such as forceps or a grasping tool mountedto the robot arm via a wrist assembly. In such a configuration, duringthe medical procedure, the end effector and the wrist assembly areinserted into a small incision (via a cannula) or a natural orifice of apatient to position the end effector at a surgical site within the bodyof the patient

Oftentimes when the tool is removed from the surgical site within thebody of the patient, the tool includes bodily fluids and/or tissuethereon. To optimize instrument performance, the bodily fluids and/ortissue are preferably removed from the tool prior to re-insertion intothe patient. Although a surgical technician is typically positionedbedside and tasked with cleaning the tools, the technician will oftenwear protective gloves or other clothing, which though needed, may causeinefficiencies during the surgery. In particular, as the tools areincreasingly being designed to improve surgical precision, the endeffectors being implemented are increasingly becoming smaller andsmaller in dimension, thus becoming more difficult for surgicaltechnicians to manipulate, especially while wearing the protectivegloves. Prior to removing the tool from a patient, an end effector ofthe tool typically passes through an access port. End effectors of thesetools typically had to be aligned with the access port opening in orderfor the tool to be removed from the access port. For example, a pair ofjaw end effectors often had to be moved to the closed position for thejaws to fit through the port opening. The closed jaws made it difficultto clean the jaws prior to reinserting the tool into the patient. Thereis a need for easier accessibility and cleaning of minimally invasivesurgical tools during surgery.

SUMMARY

End effectors of surgical instruments coupled an arm of a roboticsurgical system may be manipulated so that the instrument may be quicklyand easily removed from a patient through a relatively narrow accessport opening while still enabling the instrument and its end effector tobe quickly cleaned prior to reinsertion into the patient. A position ofthe instrument, which may include a position of an instrument endeffector such as a pair of jaws, may be detected relative to aninstrument access port using positional, presence detection, or othersensors in the robotic system. The jaws may be electromechanicallyopened responsive to a determination that a distance between theinstrument and the access port is greater than a predetermined distance.

The distance between the jaws of the instrument may be further increasedin response to a determination that the distance between the position ofthe instrument and the position of the access port is increasing.

The distance between the jaws may be increased proportionally based onan interpolation of the distance between the position of the instrumentrelative to the position of the access port as the distance between theposition of the instrument relative to the position of the access portincreases.

The jaws of the instrument may be closed in response to a determinationthat the distance between the position of the instrument and theposition of the access port is less than the predetermined distance.

The distance between the jaws may be decreased proportionally based onan interpolation of the distance between the position of the instrumentrelative to the position of the access port as the distance between theposition of the instrument relative to the position of the access portdecreases.

If the instrument is moved in a direction co-axial with the access port,the opening of the jaws of the instrument may include increasing adistance between the jaws based on an interpolation of a change inheight of the instrument along the direction co-axial with the accessport relative to the position of the access port.

The predetermined distance may include a range of distances and the jawsof the instrument may be maintained in a closed position, in response toa determination that the distance between the position of the instrumentand a position of the access port is within the range of distances.

A robotic surgical system may include an arm, an elongated mount coupledto the arm, an instrument, a processor, and a memory. The elongatedmount may have a proximal end and a distal end, and the instrument maybe detachably coupled to the elongated mount and slideable between theproximal end and the distal end. The instrument may include an endeffector such as jaws moveable between an open position and a closedposition. The access port may in some instances be disposed on the armproximate the distal end of the elongated mount. The processor may becommunicatively coupled to the arm, the elongated mount, and theinstrument. The memory may be communicatively coupled to the processorand include instructions that, when executed by the processor, causesthe processor to detect a position of the instrument and open the jawsof the instrument, in response to a determination that a distancebetween the position of the instrument and a position of the access portis greater than a predetermined distance.

The memory may further include instructions that, when executed by theprocessor, causes the processor to increase a distance between the jawsof the instrument, in response to a determination that the distancebetween the position of the instrument and the position of the accessport is increasing.

The memory may further include instructions that, when executed by theprocessor, causes the processor to gradually increase the distancebetween the jaws proportionally based on an interpolation of thedistance between the position of the instrument relative to the positionof the access port as the distance between the position of theinstrument relative to the position of the access port increases.

The memory may further include instructions that, when executed by theprocessor, causes the processor to close the jaws of the instrument, inresponse to a determination that the distance between the position ofthe instrument and the position of the access port is less than thepredetermined distance.

The memory may further include instructions that, when executed by theprocessor, causes the processor to gradually decreasing the distancebetween the jaws proportionally based on an interpolation of thedistance between the position of the instrument relative to the positionof the access port as the distance between the position of theinstrument relative to the position of the access port decreases.

The memory may further include instructions that, when executed by theprocessor, causes the processor to open the jaws of the instrument byincreasing a distance between the jaws, based on an interpolation of aposition of the instrument along the elongated mount relative to theposition of the access port.

The predetermined distance may include a range of distances and maymaintain the jaws of the instrument in a closed position, in response toa determination that the distance between the position of the instrumentand a position of the access port is within the range of distances.

A non-transitory computer-readable medium may store a computer programproduct including instructions for controlling a robotic surgical systemincluding an arm having an instrument and an access port each coupled tothe arm, that, when executed by a processor, are operable to detect aposition of the instrument and open jaws of the instrument, in responseto a determination that a distance between the position of theinstrument and a position of the access port is greater than apredetermined distance.

The non-transitory computer-readable may further include instructions,when executed by the processor, to further cause an increase of adistance between the jaws of the instrument, in response to adetermination that the distance between the position of the instrumentand the position of the access port is increasing.

The non-transitory computer-readable may further include instructions,when executed by the processor, to further cause a gradual increase ofthe distance between the jaws proportionally based on an interpolationof the distance between the position of the instrument relative to theposition of the access port as the distance between the position of theinstrument relative to the position of the access port increases.

The non-transitory computer-readable may further include instructions,when executed by the processor, to further cause a closing of the jawsof the instrument, in response to a determination that the distancebetween the position of the instrument and the position of the accessport is less than the predetermined distance.

The non-transitory computer-readable may further include instructions,wherein the closing of the jaws of the instrument includes graduallydecreasing the distance between the jaws proportionally based on aninterpolation of the distance between the position of the instrumentrelative to the position of the access port as the distance between theposition of the instrument relative to the position of the access portdecreases.

The instrument may be moveable in a direction co-axial with the accessport and the non-transitory computer-readable may further includeinstructions, when executed by the processor, to further cause theopening of the jaws of the instrument including increasing a distancebetween the jaws, based on an interpolation of a height of theinstrument in the direction co-axial with the access port relative tothe position of the access port.

The predetermined distance may include a range of distances and maymaintain the jaws of the instrument in a closed position, in response toa determination that the distance between the position of the instrumentand a position of the access port is within the range of distances.

An end effector of a surgical instrument coupled to an arm of a roboticsurgical system may also be manipulated by detecting, using positional,proximity detection, or other sensors, a position of the end effectorrelative to an instrument access port. The end effector may beelectromechanically to a position that does not clear an opening of theaccess port responsive to the detected position of the end effectorclearing the opening of the access port.

Further details and aspects of exemplary embodiments of the presentdisclosure are described in more detail below with reference to theappended figures.

BRIEF DESCRIPTION OF THE DRAWINGS

Various aspects of the present disclosure are described hereinbelow withreference to the drawings, which are incorporated in and constitute apart of this specification, wherein:

FIG. 1 is a schematic illustration of a robotic surgical system inaccordance with the present disclosure;

FIG. 2 is a side view of an arm that may be included in the roboticsurgical system of FIG. 1 in an open position;

FIGS. 3A and 3B are perspective views of an end effector including a jawassembly in a closed position and an open position, respectively, thatmay be implemented with the arm of FIG. 2 ;

FIG. 4 is a block diagram of control components, of the presentdisclosure, for controlling the robotic surgical system of FIG. 1 ;

FIG. 5 is a flow diagram of a process for controlling the roboticsurgical system of FIG. 1 ; and

FIG. 6 is a side view of an arm that may be included in the roboticsurgical system of FIG. 1 in a closed position.

DETAILED DESCRIPTION

Embodiments of the robotic surgical system and surgical assembly aredescribed in detail with reference to the drawings, in which likereference numerals designate identical or corresponding elements in eachof the several views. As used herein the term “distal” refers to thatportion of the surgical assembly that is closer to the patient, whilethe term “proximal” refers to that portion of the surgical assembly thatis farther from the patient.

With reference to FIG. 1 , a robotic surgical system 1 includes aplurality of robotic arms 2, 3, a control device 4, and a console 5coupled to the control device 4. As illustrated in FIG. 1 , the surgicalsystem 1 is configured for use on a patient 13 lying on a patient table12 for performance of a minimally invasive surgical operation. Theconsole 5 includes a display device 6 and input devices 7, 8. Thedisplay device 6 is set up to display three-dimensional images, and themanual input devices 7, 8 are configured to allow a clinician totelemanipulate the robotic arms 2, 3.

Each of the robotic arms 2, 3 is made up of a plurality of membersconnected through joints and includes a surgical assembly 10 connectedto a distal end of a corresponding robotic arm 2, 3. In an embodiment,the surgical assembly 10 includes a surgical instrument 20 supporting anend effector 23. Although two robotic arms 2, 3, are depicted, thesurgical system 1 may include more than two robotic arms 2, 3. In thisregard, the additional robotic arms (not shown) are likewise connectedto the control device 4 and are telemanipulatable via the console 5.Accordingly, one or more additional surgical assemblies 10 and/orsurgical instruments 20 may also be attached to the additional roboticarm.

The robotic arms 2, 3 may be driven by electric drives (not shown) thatare connected to the control device 4. According to an embodiment, thecontrol device 4 is configured to activate drives, for example, via acomputer program, such that the robotic arms 2, 3 and the surgicalassemblies 10 and/or surgical instruments 20 corresponding to therobotic arms 2, 3, execute a desired movement received through themanual input devices 7, 8. The control device 4 may also be configuredto regulate movement of the robotic arms 2, 3 and/or of the drives.

The control device 4 may control a plurality of motors (for example,Motor 1 . . . n) with each motor configured to drive a pushing or apulling of one or more cables such as cables (not shown) coupled to theend effector 23 of the surgical instrument 20. In use, as these cablesare pushed and/or pulled, the one or more cables effect operation and/ormovement of the end effector 23. The control device 4 coordinates theactivation of the various motors to coordinate a pushing or a pullingmotion of one or more cables in order to coordinate an operation and/ormovement of one or more end effectors 23. In an embodiment, each motoris configured to actuate a drive rod or a lever arm to effect operationand/or movement of end effectors 23 in addition to, or instead of one ormore cables.

The control device 4 included any suitable logic control circuit adaptedto perform calculations and/or operate according to a set ofinstructions. The control device 4 can be configured to communicate witha remote system “RS,” either via a wireless (e.g., Wi-Fi, Bluetooth,LTE, etc.) and/or wired connection. The remote system “RS” can includedata, instructions and/or information related to the various components,algorithms, and/or operations of work station 1. The remote system “RS”can include any suitable electronic service, database, platform, cloud“C” (see FIG. 1 ), or the like. The control device 4 may include acentral processing unit operably connected to memory. The memory mayinclude transitory type memory (e.g., RAM) and/or non-transitory typememory (e.g., flash media, disk media, etc.). In some embodiments, thememory is part of, and/or operably coupled to, the remote system “RS.”

The control device 4 can include a plurality of inputs and outputs forinterfacing with the components of the work station 1, such as through adriver circuit. The control device 4 can be configured to receive inputsignals and/or generate output signals to control one or more of thevarious components (e.g., one or more motors) of the work station 1. Theoutput signals can include, and/or can be based upon, algorithmicinstructions which may be pre-programmed and/or input by a user. Thecontrol device 4 can be configured to accept a plurality of user inputsfrom a user interface (e.g., switches, buttons, touch screen, etc. ofoperating the console 5) which may be coupled to remote system “RS.”

A memory 14 can be directly and/or indirectly coupled to the controldevice 4 to store instructions and/or databases including pre-operativedata from living being(s) and/or anatomical atlas(es). The memory 14 canbe part of, and/or or operatively coupled to, remote system “RS.”

In accordance with an embodiment, the distal end of each robotic arm 2,3 is configured to releasably secure the end effector 23 (or othersurgical tool) therein and may be configured to receive any number ofsurgical tools or instruments, such as, for example, a trocar orretractor.

Turning now to FIG. 2 , a side view is provided of a robotic arm 200(similar to robotic arms 2, 3) including a mounting assembly 210 forsecuring surgical tools thereto. The robotic arm 200 is made up of threemembers connected via joints. The mounting assembly 210 is coupled to adistal end 220 of the arm 200 and includes a mounting device 230 and alongitudinally-extending support 240. The mounting device 230 is made upof a housing 232 which supports a clamping and release assembly 234 andis configured to selectively secure a variety of surgical tools thereinto thereby secure a surgical tool to the robotic arm. Although themounting device 230 may be adapted to receive a variety of surgicaltools, the mounting device 230 receives a trocar 250, in an embodiment,as will be discussed in detail herein. The trocar 250 is releasablysecured within the mounting device 230 through a transition between anopen configuration and a closed configuration of the clamping assembly234. The trocar 250 includes a cannula 252 configured to provide apathway to a surgical site within the patient and has an access port 254for receiving an end effector 265 of an instrument 260, which mayperform the surgical operation on the patient. In an example, the endeffector 265 includes a jaw assembly 266.

The longitudinally-extending support 240 extends substantiallyperpendicularly relative to the housing 232 of the mounting device 230and supports a vertical rail 242. The vertical rail 242 is coupled tothe support 240 and extends along a length of the support 240. Thevertical rail 242 is configured such that an instrument 260 may beslideably coupled thereto and aligned with the trocar 250. Inparticular, the jaw assembly 266 extending from a rod or shaft 262 ofthe instrument 260 is substantially aligned with the trocar 250 so thatit can be inserted into or removed from the access port 254 of thetrocar 250. According to an embodiment, the vertical rail 242 isconfigured for positioning the jaw assembly 266 of the instrument 260 atleast between a position P1 located just prior to entry into the accessport 254 and a position P2 located a distance from the access port 254.

The jaw assembly 266 of the instrument 260 is configured to be movablebetween a closed position at least at position P1, for disposal withinthe cannula 252, and an open position, when located at least at positionP2 and/or at a position external to the cannula 252. FIGS. 3A and 3B areperspective views of an end effector 365 including a jaw assembly 366 ina closed position and an open position, respectively. In addition to thejaw assembly 366, the end effector 365 includes a wrist assembly 310, towhich the jaw assembly 366 is pivotally connected. The jaw assembly 366includes a pair of jaws 368, 370 that can be manipulated using cables372 that are coupled to pulley 374 for opening and closing the jaws 368,370. In other embodiments, the instrument 260 may be forceps, scissorcutting tools, pliers, staplers, electrosurgical forceps or other toolsincluding jaws or similar components for grasping.

A simplified functional block diagram of a system architecture 400 ofthe robotic surgical system 10 is included in FIG. 4 . The systemarchitecture 400 includes a core module 420, a surgeon master module430, a robot arm module 440, and an instrument module 450. The coremodule 420 serves as a central controller for the robotic surgicalsystem 1 and coordinates operations of all of the other modules 430,440, 450. For example, the core module 420 maps control devices to thearms 2, 3, 200, determines current status, performs all kinematics andframe transformations, and relays resulting movement commands. In thisregard, the core module 420 receives and analyzes data from each of theother modules 430, 440, 450 in order to provide instructions or commandsto the other modules 430, 440, 450 for execution within the roboticsurgical system 1. Although depicted as separate modules, one or more ofthe modules 420, 430, 440, and 450 are a single component in otherembodiments.

The core module 420 includes models 422, observers 424, a collisionmanager 426, controllers 428, and a skeleton 429. The models 422 includeunits that provide abstracted representations (base classes) forcontrolled components, such as the motors (for example, Motor 1 . . . n)and/or the arms 2, 3, 200. The observers 424 create state estimatesbased on input and output signals received from the other modules 430,440, 450. The collision manager 426 prevents collisions betweencomponents that have been registered within the system 10. The skeleton429 tracks the system 10 from a kinematic and dynamics point of view.For example, the kinematics item may be implemented either as forward orinverse kinematics, in an embodiment. The dynamics item may beimplemented as algorithms used to model dynamics of the system'scomponents.

The surgeon master module 430 communicates with surgeon control devicesat the console 5 and relays inputs received from the console 5 to thecore module 420. In accordance with an embodiment, the surgeon mastermodule 430 communicates button status and control device positions tothe core module 420 and includes a node controller 432 that includes astate/mode manager 434, a fail-over controller 436, and a N degree offreedom (“DOF”) actuator 438.

The robot arm module 440 coordinates operation of a robot arm subsystem,an arm cart subsystem, a set up arm, and an instrument subsystem inorder to control movement of a corresponding arm 2, 3, 200. Although asingle robot arm module 440 is included, it will be appreciated that therobot arm module 440 corresponds to and controls a single arm. As such,additional robot arm modules 440 are included in configurations in whichthe system 10 includes multiple arms 2, 3, 200. The robot arm module 440includes a node controller 442, a state/mode manager 444, a fail-overcontroller 446, and a N degree of freedom (“DOF”) actuator 348.

The instrument module 450 controls movement of the instrument 260 (shownin FIG. 2 ) attached to the arm 2, 3, 200. The instrument module 450 isconfigured to correspond to and control a single instrument. Thus, inconfigurations in which multiple instruments are included, additionalinstrument modules 450 are likewise included. In an embodiment, theinstrument module 450 obtains and communicates data related to theposition of the end effector or jaw assembly 266 (which may include thepitch and yaw angle of the jaws), the width of or the angle between thejaws 368, 370, and the position of the access port 254. The instrumentmodule 450 has a node controller 452, a state/mode manager 454, afail-over controller 456, and a N degree of freedom (“DOF”) actuator458.

The position data collected by the instrument module 450 is used by thecore module 420 to determine when the instrument 260 is within thesurgical site, within the cannula 252, adjacent to the access port 254,or above the access port 254 in free space. The core module 420determines whether to provide instructions to open or close the jaws ofthe instrument 260 based on the positioning of the instrument 260. Forexample, when the position of the instrument 260 indicates that theinstrument 260 is within the cannula 252, instructions are provided tomaintain the jaw assembly 266 in a closed position. When the position ofthe instrument 260 indicates that the instrument 260 is outside of theaccess port 254 (specifically, jaw assembly 266), instructions areprovided to open the jaw assembly 266.

FIG. 5 is a flow diagram of a method 400 of controlling the roboticsurgical system 10, and in particular, the instrument 260 coupled to acorresponding arm 200, in accordance with an embodiment. With additionalreference to FIG. 2 , at system initialization, for example, during orat system start up, reset, or reboot, the arm 200 and instrument 260 aremaintained at an initial position at step 510. In an embodiment, theinitial position includes a distal end of the arm 200 being placed apredetermined height above the patient table 12 (FIG. 1 ) and theinstrument 260 to be controlled being placed at a position proximal fromthe patient table 12. In particular, the instrument 260 is positionedalong the vertical rail 242 such that the jaw assembly 266 of theinstrument 260 is located outside of the cannula 252. For example, asshown in FIG. 2 , the jaw assembly 266 may be located at position P2 adistance D away from the position P1 of the access port 254. It will beappreciated that P2 may be located at a location different than thatdepicted in FIG. 2 in other embodiments, and distance D corresponds toany distance between P1 and P2. Additionally, although referenced hereingenerally as the distance between P1 and P2, distance D is a verticaldistance between position P1 and position P2, in another embodiment. Inaccordance with another embodiment, distance D is a horizontal distancebetween position P1 and position P2.

The jaws 368, 370 of the jaw assembly 266 are either moved to ormaintained in an open position. In accordance with an embodiment inwhich the jaw assembly 266 is configured as a hinge joint, the openposition includes the jaws 368, 370 having an angle therebetween ofgreater than about 0 to about 10 degrees. In another embodiment, amaximum angle between the jaws 368, 370 is about 45 degrees. In anembodiment in which the jaw assembly 266 is configured as a clamp, thejaws 368, 370 are movable between an open position and a closedposition, wherein a maximum predetermined width between the jaws 368,370 is in a range of between about 4 millimeters (mm) to about 25 mm, inan embodiment. In still another embodiment, the jaws 368, 370 may beconfigured to move (e.g., closer and further away from each other) intwo parallel planes relative to one another. Alternatively, thepredetermined width between the jaws 368, 370 is greater or less thanthe aforementioned range.

Next, an input is received by the system 10 indicating movement of theinstrument 260 in a direction co-axial with the access port at step 504.Determination of a position of the instrument 260 may be determined, forexample, by a Z-slide encoder, by detecting distance between sensorsdisposed on an end of the vertical rail 242 and the instrument 260, bycontact sensors such as a proximity switch, by contactlessconfigurations such as a laser beam that is interrupted by theinstrument 260 and the like. In response to an input received by thesystem 10 indicating a movement of the instrument 260 along thedirection co-axial with the access port, a determination is made as towhether the distance D between the position of the jaw assembly 266 ofthe instrument 260 at P2 relative to the position of the access port 254at P1 is greater than a predetermined distance D1 at 506. Thepredetermined distance D1 is a threshold value at which the jaws 368,370 open or close. In an embodiment, the predetermined distance D1 is avalue in a range of between about 10 mm and about 25 mm. In anotherembodiment, the predetermined distance D1 is a value that is greater orless than the aforementioned range. The predetermined distance D1 may becustomized by type of instrument and/or or by end-effector and may bestored in the memory 14, a portion of which may be associated with orlocated on the arm 200 or on the instrument 260.

The input is received from the console 5. For example, the clinician maypress a physical button or virtual button on a touch screen at theconsole 5. In another embodiment, the input is received at the arm 200.For instance, a technician in the proximity of the patient table 12manipulates the vertical rail 242, either by pulling the vertical rail242 closer to the access port 254 or pushing the vertical rail 242 awayfrom the access port 254.

If the determination is made that the distance D between the position ofthe jaw assembly 266 of the instrument 260 at P2 relative to theposition of the access port 254 at P1 is not greater than thepredetermined distance “D1” as shown in FIG. 5 , then instructions areprovided to the instrument module 450 to move the jaws 368, 370 towardthe closed position at step 508. If the determination is made that thedistance D between the position of the jaw assembly 266 of theinstrument 260 at P2 relative to the position of the access port 254 atP1 is greater than the predetermined distance “D1,” then instructionsare provided to the instrument module 450 to move the jaws 368, 370 ofthe instrument 260 toward the open position at step 510.

According to an embodiment, the amount of closure of the jaws 368, 370is based in part on the distance D of the jaw assembly 266 from theaccess port 254. In an embodiment, the jaws 368, 370 are substantiallyclosed (e.g., positioned such that the jaws 368, 370 have a width thatis less than the diameter of the access port 254) when the position ofthe jaw assembly 266 at P2 is located at or adjacent P1. In anotherembodiment, the jaws 368, 370 remain in the substantially closedposition while located within a predetermined range of distances of theaccess port 254 to define a buffer zone in the space outside of thecannula 252.

As the jaw assembly 266 moves further away from the access port 254 oroutside the buffer zone, the jaws 368, 370 gradually become wider untila maximum width is obtained. In an embodiment, the core module 420includes a look-up table or algorithm for interpolation of jaw widthvalues from the substantially closed position to the maximum openposition based on the distance of the jaw assembly 266 from the accessport 254 or outside the buffer zone and provides instruction to theinstrument module 450 to open the jaws 368, 370 to a desired width.According to an embodiment, the jaw width is directly proportional tothe distance of the jaw assembly 266 from the access port 254 or outsidethe buffer zone. In another embodiment, the jaw width is relativelysmall when closest to the access port 254 or buffer zone and apercentage of increase in jaw width is greater the further away from theaccess port 254 or buffer zone the jaw assembly 266 is positioned. Instill another embodiment, the core module 420 includes a look-up tableor algorithm for interpolation of jaw angle values from thesubstantially closed position to the maximum open position based on thedistance of the jaw assembly 266 from the access port 254 or outside thebuffer zone and provides instruction to the instrument module 450 toopen the jaws 368, 370 to a desired angle. In any case, when the jaws368, 370 obtain the maximum width or angle therebetween, the jaws 368,370 are maintained at the maximum width or angle as long as the jawassembly 266 is located at a position beyond that at which the maximumwidth or angle is triggered and hence, located a distance greater than amaximum distance from the access port 254.

Closure of the jaws 368, 370 operates in a similar manner as theabove-detailed opening sequence. For example, the distance between thejaws 368, 370 gradually becomes narrower until a minimum width (orsubstantial closure) is obtained. In an embodiment, the core module 420uses the look-up table or algorithm for interpolation of jaw widthvalues from the maximum open position to the substantially closedposition based on the distance of the jaw assembly 266 from the accessport 254 or outside the buffer zone and provides instruction to theinstrument module 450 to close the jaws 368, 370 a desired width.According to an embodiment, the jaw width is directly proportional tothe distance of the jaw assembly 266 from the access port 254 or outsidethe buffer zone. In another embodiment, the core module 420 includes alook-up table or algorithm for interpolation of jaw angle values fromthe maximum open position to the substantially closed position based onthe distance of the jaw assembly 266 from the access port 254 or outsidethe buffer zone and provides instruction to the instrument module 450 toclose the jaws 368, 370 to a desired angle. For instance, in aconfiguration in which at a maximum width the jaws 368, 370 are at a 45degree angle, if the jaw assembly 266 is located half-way betweenposition P1 and position P2, the jaws 368, 370 would be open to a 22.5degree angle. In another embodiment, the jaw width is relatively smallwhen closest to the access port 254 or buffer zone and a percentage ofincrease in jaw width is greater the further away from the access port254 or buffer zone the jaw assembly 266 is positioned. Thus, in anembodiment, the width of the jaws 368, 370 decreases more rapidly thefurther away from the access port 254 or buffer zone. When the jaws 368,370 obtain the minimum width or angle therebetween, the jaws 368, 370are maintained at the minimum width (or substantially closed) as long asthey are located at a position within which the minimum width or angleis triggered and hence, located a minimum distance from the access port254. In still another embodiment, the jaws 368, 370 close immediatelybased on the distance of the jaw assembly 266 from the access port 254or outside the buffer zone where instructions to do so are included inthe instrument module 450 for closure of the jaws 368, 370 to a desiredwidth, rather than in a gradual manner.

In any case, a determination is made as to whether the position of thejaw assembly 266 (P2) has changed relative to the position of the accessport 254 (P1) at step 512. For example, the core module 420 providesinstructions to the instrument module 450 to detect a position change ofthe jaw assembly 266 relative to the access port 254. If a positionchange of the jaw assembly 266 is detected, the method iterates at step506. If not, the jaws 368, 370 are maintained at the previous width orangle.

As briefly noted above, input into the system 10 to re-position the jawassembly 266 relative to the access port 254 may be received by thebedside technician. By implementing the above-described process, thetechnician can manually move the location of the jaw assembly 266 alongthe vertical rail 242 to thereby cause the jaws 368, 370 to open orclose. The manual movement may occur by physically pushing or pullingthe vertical rail 242 along the longitudinally-extending support or byusing a button (physical or virtual) to activate an actuation systemconfigured to position the vertical rail 242.

In an embodiment, in order to improve safety during use of the system10, the core module 420 is configured to prioritize input received atthe instrument 260 (for example, the re-positioning of the vertical rail242, manual opening or closing of the jaws 368, 370 either by manuallymanipulating the jaws 368, 370 or by pressing a physical or virtualbutton for opening or closing the jaws 368, 370) over inputs receivedfrom the console 5.

In accordance with another embodiment, although described as includingvertical rail 242, other robotic arm designs omit the vertical rail 242and, instead, include additional components for translating theinstrument 260 in the x-, y-, and z-directions, ultimately aligning theinstrument 260 concentric with the access port 254. In such aconfiguration, software-enforced kinematics are implemented into therobot arm module 440 that instruct the robotic arm and correspondinginstrument to translate concentric to the access port, throughcoordination of the other joints (similar to a human arm) duringsurgeon-controlled motions. Instructions are also included forresponding to manual movement by the technician, which activate a modewhere the system allows the technician to translate the arm along thez-direction (or other directions), while motors associated with the armresists motion that deviates from one or more of the x-, y-, orz-directions.

The systems described herein may also utilize one or more controllers toreceive various information and transform the received information togenerate an output. The controller may include any type of computingdevice, computational circuit, or any type of processor or processingcircuit capable of executing a series of instructions that are stored ina memory. The controller may include multiple processors and/ormulticore central processing units (CPUs) and may include any type ofprocessor, such as a microprocessor, digital signal processor,microcontroller, or the like. The controller may also include a memoryto store data and/or algorithms to perform a series of instructions.

Any of the herein described methods, programs, algorithms or codes maybe converted to, or expressed in, a programming language or computerprogram. A “Programming Language” and “Computer Program” includes anylanguage used to specify instructions to a computer, and includes (butis not limited to) these languages and their derivatives: Assembler,Basic, Batch files, BCPL, C, C+, C++, Delphi, Fortran, Java, JavaScript,Machine code, operating system command languages, Pascal, Perl, PL1,scripting languages, Visual Basic, metalanguages which themselvesspecify programs, and all first, second, third, fourth, and fifthgeneration computer languages. Also included are database and other dataschemas, and any other meta-languages. No distinction is made betweenlanguages which are interpreted, compiled, or use both compiled andinterpreted approaches. No distinction is also made between compiled andsource versions of a program. Thus, reference to a program, where theprogramming language could exist in more than one state (such as source,compiled, object, or linked) is a reference to any and all such states.Reference to a program may encompass the actual instructions and/or theintent of those instructions.

Any of the herein described methods, programs, algorithms or codes maybe contained on one or more machine-readable media or memory. The term“memory” may include a mechanism that provides (e.g., stores and/ortransmits) information in a form readable by a machine such a processor,computer, or a digital processing device. For example, a memory mayinclude a read only memory (ROM), random access memory (RAM), magneticdisk storage media, optical storage media, flash memory devices, or anyother volatile or non-volatile memory storage device. Code orinstructions contained thereon can be represented by carrier wavesignals, infrared signals, digital signals, and by other like signals.

While several embodiments of the disclosure have been shown in thedrawings, it is not intended that the disclosure be limited thereto, asit is intended that the disclosure be as broad in scope as the art willallow and that the specification be read likewise. Any combination ofthe above embodiments is also envisioned and is within the scope of theappended claims. Therefore, the above description should not beconstrued as limiting, but merely as exemplifications of particularembodiments. Those skilled in the art will envision other modificationswithin the scope of the claims appended hereto.

What is claimed:
 1. A method of manipulating an end effector of asurgical instrument coupled to an arm of a robotic surgical system, themethod comprising: detecting a position of the end effector relative toan instrument access port; and electromechanically manipulating the endeffector to a position that does not clear an opening of the access portresponsive to the detected position of the end effector clearing theopening of the access port.
 2. A method of manipulating jaws of asurgical instrument coupled to an arm of a robotic surgical system, themethod comprising: detecting a position of the surgical instrumentrelative to an instrument access port of a trocar; andelectromechanically opening the jaws of the surgical instrument inresponse to a determination that a distance between the jaws of thesurgical instrument and the access port of the trocar is greater than apredetermined distance.
 3. The method of claim 2, wherein the opening ofthe jaws of the surgical instrument includes: increasing a distancebetween the jaws of the surgical instrument, in response to adetermination that the distance between the position of the surgicalinstrument and the position of the access port of the trocar isincreasing.
 4. The method of claim 3, wherein the opening of the jaws ofthe surgical instrument includes gradually increasing the distancebetween the jaws proportionally based on an interpolation of thedistance between the position of the jaws of the surgical instrumentrelative to the position of the access port of the trocar as thedistance between the position of the surgical instrument relative to theposition of the access port of the trocar increases.
 5. The method ofclaim 2, further comprising: closing the jaws of the surgical instrumentin response to a determination that the distance between the position ofthe surgical instrument and the position of the access port of thetrocar is less than the predetermined distance.
 6. The method of claim5, wherein the closing of the jaws of the surgical instrument includesgradually decreasing the distance between the jaws proportionally basedon an interpolation of the distance between the position of the surgicalinstrument relative to the position of the access port of the trocar asthe distance between the position of the surgical instrument relative tothe position of the access port of the trocar decreases.
 7. The methodof claim 2, wherein: the surgical instrument is moveable in a directionco-axial with the access port of the trocar; and the opening of the jawsof the instrument includes increasing a distance between the jaws, basedon an interpolation of a height of the surgical instrument along thedirection co-axial with the access port of the trocar to the position ofthe access port of the trocar.
 8. The method of claim 2, wherein thedistance includes a predefined range of distances and maintaining thejaws of the surgical instrument in a closed position, in response to adetermination that the distance between the position of the surgicalinstrument and a position of the access port of the trocar is within thepredefined range of distances.
 9. The method of claim 2, wherein thesurgical instrument defines a longitudinal instrument axis, and whereinthe access port of the trocar defines a longitudinal trocar axis,wherein the method comprises: moving the surgical instrument along thelongitudinal trocar axis while the longitudinal instrument axis isco-axial therewith; and the opening of the jaws of the instrumentincludes increasing a distance between the jaws, based on aninterpolation of a height of the surgical instrument along the directionco-axial with the access port of the trocar to the position of theaccess port of the trocar.